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changed GetEdgeMidPoint, GetEdgeIntersectionPoint

This commit is contained in:
ikpil 2023-06-18 14:36:38 +09:00
parent 7ae7c3f41e
commit b6ee6816de
2 changed files with 39 additions and 52 deletions
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60
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -901,14 +901,13 @@ namespace DotRecast.Detour
// If the node is visited the first time, calculate node position. // If the node is visited the first time, calculate node position.
var neighbourPos = neighbourNode.pos; var neighbourPos = neighbourNode.pos;
var midpod = neighbourRef == endRef var empStatus = neighbourRef == endRef
? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile, endPos, neighbourRef, ? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile,
neighbourPoly, neighbourTile) endPos, neighbourRef, neighbourPoly, neighbourTile,
: GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile); ref neighbourPos)
if (!midpod.Failed()) : GetEdgeMidPoint(bestRef, bestPoly, bestTile,
{ neighbourRef, neighbourPoly, neighbourTile,
neighbourPos = midpod.result; ref neighbourPos);
}
// Calculate cost and heuristic. // Calculate cost and heuristic.
float cost = 0; float cost = 0;
@ -1220,14 +1219,13 @@ namespace DotRecast.Detour
// If the node is visited the first time, calculate node // If the node is visited the first time, calculate node
// position. // position.
var neighbourPos = neighbourNode.pos; var neighbourPos = neighbourNode.pos;
var midpod = neighbourRef == m_query.endRef var empStatus = neighbourRef == m_query.endRef
? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile, m_query.endPos, ? GetEdgeIntersectionPoint(bestNode.pos, bestRef, bestPoly, bestTile,
neighbourRef, neighbourPoly, neighbourTile) m_query.endPos, neighbourRef, neighbourPoly, neighbourTile,
: GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile); ref neighbourPos)
if (!midpod.Failed()) : GetEdgeMidPoint(bestRef, bestPoly, bestTile,
{ neighbourRef, neighbourPoly, neighbourTile,
neighbourPos = midpod.result; ref neighbourPos);
}
// Calculate cost and heuristic. // Calculate cost and heuristic.
float cost = 0; float cost = 0;
@ -2087,29 +2085,30 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCSESS; return DtStatus.DT_SUCCSESS;
} }
protected Result<RcVec3f> GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to, protected DtStatus GetEdgeMidPoint(long from, DtPoly fromPoly, DtMeshTile fromTile, long to,
DtPoly toPoly, DtMeshTile toTile) DtPoly toPoly, DtMeshTile toTile, ref RcVec3f mid)
{ {
var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppStatus.Failed()) if (ppStatus.Failed())
{ {
return Results.Of<RcVec3f>(ppStatus, ""); return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
RcVec3f mid = new RcVec3f();
mid.x = (left.x + right.x) * 0.5f; mid.x = (left.x + right.x) * 0.5f;
mid.y = (left.y + right.y) * 0.5f; mid.y = (left.y + right.y) * 0.5f;
mid.z = (left.z + right.z) * 0.5f; mid.z = (left.z + right.z) * 0.5f;
return Results.Success(mid);
return DtStatus.DT_SUCCSESS;
} }
protected Result<RcVec3f> GetEdgeIntersectionPoint(RcVec3f fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile, protected DtStatus GetEdgeIntersectionPoint(RcVec3f fromPos, long from, DtPoly fromPoly, DtMeshTile fromTile,
RcVec3f toPos, long to, DtPoly toPoly, DtMeshTile toTile) RcVec3f toPos, long to, DtPoly toPoly, DtMeshTile toTile,
ref RcVec3f pt)
{ {
var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right); var ppStatus = GetPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, out var left, out var right);
if (ppStatus.Failed()) if (ppStatus.Failed())
{ {
return Results.Of<RcVec3f>(ppStatus, ""); return DtStatus.DT_FAILURE;
} }
float t = 0.5f; float t = 0.5f;
@ -2118,8 +2117,8 @@ namespace DotRecast.Detour
t = Clamp(t2, 0.1f, 0.9f); t = Clamp(t2, 0.1f, 0.9f);
} }
RcVec3f pt = RcVec3f.Lerp(left, right, t); pt = RcVec3f.Lerp(left, right, t);
return Results.Success(pt); return DtStatus.DT_SUCCSESS;
} }
private const float s = 1.0f / 255.0f; private const float s = 1.0f / 255.0f;
@ -3271,12 +3270,9 @@ namespace DotRecast.Detour
// Cost // Cost
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
var midPoint = GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, GetEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourTile); neighbourRef, neighbourPoly, neighbourTile,
if (midPoint.Succeeded()) ref neighbourNode.pos);
{
neighbourNode.pos = midPoint.result;
}
} }
float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos);

27
src/DotRecast.Detour/LegacyNavMeshQuery.cs
View File

@ -136,12 +136,9 @@ namespace DotRecast.Detour
// If the node is visited the first time, calculate node position. // If the node is visited the first time, calculate node position.
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
var midpod = GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, GetEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourTile); neighbourRef, neighbourPoly, neighbourTile,
if (!midpod.Failed()) ref neighbourNode.pos);
{
neighbourNode.pos = midpod.result;
}
} }
// Calculate cost and heuristic. // Calculate cost and heuristic.
@ -345,12 +342,9 @@ namespace DotRecast.Detour
// position. // position.
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
var midpod = GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, GetEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourTile); neighbourRef, neighbourPoly, neighbourTile,
if (!midpod.Failed()) ref neighbourNode.pos);
{
neighbourNode.pos = midpod.result;
}
} }
// Calculate cost and heuristic. // Calculate cost and heuristic.
@ -783,12 +777,9 @@ namespace DotRecast.Detour
// Cost // Cost
if (neighbourNode.flags == 0) if (neighbourNode.flags == 0)
{ {
var midPoint = GetEdgeMidPoint(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, GetEdgeMidPoint(bestRef, bestPoly, bestTile,
neighbourTile); neighbourRef, neighbourPoly, neighbourTile,
if (midPoint.Succeeded()) ref neighbourNode.pos);
{
neighbourNode.pos = midPoint.result;
}
} }
float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos); float total = bestNode.total + RcVec3f.Distance(bestNode.pos, neighbourNode.pos);